diff options
| -rw-r--r-- | drivers/pps/Kconfig | 9 | ||||
| -rw-r--r-- | include/linux/timex.h | 1 | ||||
| -rw-r--r-- | kernel/time/ntp.c | 425 |
3 files changed, 420 insertions, 15 deletions
diff --git a/drivers/pps/Kconfig b/drivers/pps/Kconfig index 1afe4e03440f..0ad5ff38bfec 100644 --- a/drivers/pps/Kconfig +++ b/drivers/pps/Kconfig @@ -30,6 +30,15 @@ config PPS_DEBUG messages to the system log. Select this if you are having a problem with PPS support and want to see more of what is going on. +config NTP_PPS + bool "PPS kernel consumer support" + depends on PPS && !NO_HZ + help + This option adds support for direct in-kernel time + syncronization using an external PPS signal. + + It doesn't work on tickless systems at the moment. + source drivers/pps/clients/Kconfig endmenu diff --git a/include/linux/timex.h b/include/linux/timex.h index 32d852f8cbe4..d23999f9499d 100644 --- a/include/linux/timex.h +++ b/include/linux/timex.h @@ -268,6 +268,7 @@ extern u64 tick_length; extern void second_overflow(void); extern void update_ntp_one_tick(void); extern int do_adjtimex(struct timex *); +extern void hardpps(const struct timespec *, const struct timespec *); int read_current_timer(unsigned long *timer_val); diff --git a/kernel/time/ntp.c b/kernel/time/ntp.c index d2321891538f..5c00242fa921 100644 --- a/kernel/time/ntp.c +++ b/kernel/time/ntp.c @@ -14,6 +14,7 @@ #include <linux/timex.h> #include <linux/time.h> #include <linux/mm.h> +#include <linux/module.h> /* * NTP timekeeping variables: @@ -74,6 +75,162 @@ static long time_adjust; /* constant (boot-param configurable) NTP tick adjustment (upscaled) */ static s64 ntp_tick_adj; +#ifdef CONFIG_NTP_PPS + +/* + * The following variables are used when a pulse-per-second (PPS) signal + * is available. They establish the engineering parameters of the clock + * discipline loop when controlled by the PPS signal. + */ +#define PPS_VALID 10 /* PPS signal watchdog max (s) */ +#define PPS_POPCORN 4 /* popcorn spike threshold (shift) */ +#define PPS_INTMIN 2 /* min freq interval (s) (shift) */ +#define PPS_INTMAX 8 /* max freq interval (s) (shift) */ +#define PPS_INTCOUNT 4 /* number of consecutive good intervals to + increase pps_shift or consecutive bad + intervals to decrease it */ +#define PPS_MAXWANDER 100000 /* max PPS freq wander (ns/s) */ + +static int pps_valid; /* signal watchdog counter */ +static long pps_tf[3]; /* phase median filter */ +static long pps_jitter; /* current jitter (ns) */ +static struct timespec pps_fbase; /* beginning of the last freq interval */ +static int pps_shift; /* current interval duration (s) (shift) */ +static int pps_intcnt; /* interval counter */ +static s64 pps_freq; /* frequency offset (scaled ns/s) */ +static long pps_stabil; /* current stability (scaled ns/s) */ + +/* + * PPS signal quality monitors + */ +static long pps_calcnt; /* calibration intervals */ +static long pps_jitcnt; /* jitter limit exceeded */ +static long pps_stbcnt; /* stability limit exceeded */ +static long pps_errcnt; /* calibration errors */ + + +/* PPS kernel consumer compensates the whole phase error immediately. + * Otherwise, reduce the offset by a fixed factor times the time constant. + */ +static inline s64 ntp_offset_chunk(s64 offset) +{ + if (time_status & STA_PPSTIME && time_status & STA_PPSSIGNAL) + return offset; + else + return shift_right(offset, SHIFT_PLL + time_constant); +} + +static inline void pps_reset_freq_interval(void) +{ + /* the PPS calibration interval may end + surprisingly early */ + pps_shift = PPS_INTMIN; + pps_intcnt = 0; +} + +/** + * pps_clear - Clears the PPS state variables + * + * Must be called while holding a write on the xtime_lock + */ +static inline void pps_clear(void) +{ + pps_reset_freq_interval(); + pps_tf[0] = 0; + pps_tf[1] = 0; + pps_tf[2] = 0; + pps_fbase.tv_sec = pps_fbase.tv_nsec = 0; + pps_freq = 0; +} + +/* Decrease pps_valid to indicate that another second has passed since + * the last PPS signal. When it reaches 0, indicate that PPS signal is + * missing. + * + * Must be called while holding a write on the xtime_lock + */ +static inline void pps_dec_valid(void) +{ + if (pps_valid > 0) + pps_valid--; + else { + time_status &= ~(STA_PPSSIGNAL | STA_PPSJITTER | + STA_PPSWANDER | STA_PPSERROR); + pps_clear(); + } +} + +static inline void pps_set_freq(s64 freq) +{ + pps_freq = freq; +} + +static inline int is_error_status(int status) +{ + return (time_status & (STA_UNSYNC|STA_CLOCKERR)) + /* PPS signal lost when either PPS time or + * PPS frequency synchronization requested + */ + || ((time_status & (STA_PPSFREQ|STA_PPSTIME)) + && !(time_status & STA_PPSSIGNAL)) + /* PPS jitter exceeded when + * PPS time synchronization requested */ + || ((time_status & (STA_PPSTIME|STA_PPSJITTER)) + == (STA_PPSTIME|STA_PPSJITTER)) + /* PPS wander exceeded or calibration error when + * PPS frequency synchronization requested + */ + || ((time_status & STA_PPSFREQ) + && (time_status & (STA_PPSWANDER|STA_PPSERROR))); +} + +static inline void pps_fill_timex(struct timex *txc) +{ + txc->ppsfreq = shift_right((pps_freq >> PPM_SCALE_INV_SHIFT) * + PPM_SCALE_INV, NTP_SCALE_SHIFT); + txc->jitter = pps_jitter; + if (!(time_status & STA_NANO)) + txc->jitter /= NSEC_PER_USEC; + txc->shift = pps_shift; + txc->stabil = pps_stabil; + txc->jitcnt = pps_jitcnt; + txc->calcnt = pps_calcnt; + txc->errcnt = pps_errcnt; + txc->stbcnt = pps_stbcnt; +} + +#else /* !CONFIG_NTP_PPS */ + +static inline s64 ntp_offset_chunk(s64 offset) +{ + return shift_right(offset, SHIFT_PLL + time_constant); +} + +static inline void pps_reset_freq_interval(void) {} +static inline void pps_clear(void) {} +static inline void pps_dec_valid(void) {} +static inline void pps_set_freq(s64 freq) {} + +static inline int is_error_status(int status) +{ + return status & (STA_UNSYNC|STA_CLOCKERR); +} + +static inline void pps_fill_timex(struct timex *txc) +{ + /* PPS is not implemented, so these are zero */ + txc->ppsfreq = 0; + txc->jitter = 0; + txc->shift = 0; + txc->stabil = 0; + txc->jitcnt = 0; + txc->calcnt = 0; + txc->errcnt = 0; + txc->stbcnt = 0; +} + +#endif /* CONFIG_NTP_PPS */ + /* * NTP methods: */ @@ -185,6 +342,9 @@ void ntp_clear(void) tick_length = tick_length_base; time_offset = 0; + + /* Clear PPS state variables */ + pps_clear(); } /* @@ -250,16 +410,16 @@ void second_overflow(void) time_status |= STA_UNSYNC; } - /* - * Compute the phase adjustment for the next second. The offset is - * reduced by a fixed factor times the time constant. - */ + /* Compute the phase adjustment for the next second */ tick_length = tick_length_base; - delta = shift_right(time_offset, SHIFT_PLL + time_constant); + delta = ntp_offset_chunk(time_offset); time_offset -= delta; tick_length += delta; + /* Check PPS signal */ + pps_dec_valid(); + if (!time_adjust) return; @@ -369,6 +529,8 @@ static inline void process_adj_status(struct timex *txc, struct timespec *ts) if ((time_status & STA_PLL) && !(txc->status & STA_PLL)) { time_state = TIME_OK; time_status = STA_UNSYNC; + /* restart PPS frequency calibration */ + pps_reset_freq_interval(); } /* @@ -418,6 +580,8 @@ static inline void process_adjtimex_modes(struct timex *txc, struct timespec *ts time_freq = txc->freq * PPM_SCALE; time_freq = min(time_freq, MAXFREQ_SCALED); time_freq = max(time_freq, -MAXFREQ_SCALED); + /* update pps_freq */ + pps_set_freq(time_freq); } if (txc->modes & ADJ_MAXERROR) @@ -508,7 +672,8 @@ int do_adjtimex(struct timex *txc) } result = time_state; /* mostly `TIME_OK' */ - if (time_status & (STA_UNSYNC|STA_CLOCKERR)) + /* check for errors */ + if (is_error_status(time_status)) result = TIME_ERROR; txc->freq = shift_right((time_freq >> PPM_SCALE_INV_SHIFT) * @@ -522,15 +687,8 @@ int do_adjtimex(struct timex *txc) txc->tick = tick_usec; txc->tai = time_tai; - /* PPS is not implemented, so these are zero */ - txc->ppsfreq = 0; - txc->jitter = 0; - txc->shift = 0; - txc->stabil = 0; - txc->jitcnt = 0; - txc->calcnt = 0; - txc->errcnt = 0; - txc->stbcnt = 0; + /* fill PPS status fields */ + pps_fill_timex(txc); write_sequnlock_irq(&xtime_lock); @@ -544,6 +702,243 @@ int do_adjtimex(struct timex *txc) return result; } +#ifdef CONFIG_NTP_PPS + +/* actually struct pps_normtime is good old struct timespec, but it is + * semantically different (and it is the reason why it was invented): + * pps_normtime.nsec has a range of ( -NSEC_PER_SEC / 2, NSEC_PER_SEC / 2 ] + * while timespec.tv_nsec has a range of [0, NSEC_PER_SEC) */ +struct pps_normtime { + __kernel_time_t sec; /* seconds */ + long nsec; /* nanoseconds */ +}; + +/* normalize the timestamp so that nsec is in the + ( -NSEC_PER_SEC / 2, NSEC_PER_SEC / 2 ] interval */ +static inline struct pps_normtime pps_normalize_ts(struct timespec ts) +{ + struct pps_normtime norm = { + .sec = ts.tv_sec, + .nsec = ts.tv_nsec + }; + + if (norm.nsec > (NSEC_PER_SEC >> 1)) { + norm.nsec -= NSEC_PER_SEC; + norm.sec++; + } + + return norm; +} + +/* get current phase correction and jitter */ +static inline long pps_phase_filter_get(long *jitter) +{ + *jitter = pps_tf[0] - pps_tf[1]; + if (*jitter < 0) + *jitter = -*jitter; + + /* TODO: test various filters */ + return pps_tf[0]; +} + +/* add the sample to the phase filter */ +static inline void pps_phase_filter_add(long err) +{ + pps_tf[2] = pps_tf[1]; + pps_tf[1] = pps_tf[0]; + pps_tf[0] = err; +} + +/* decrease frequency calibration interval length. + * It is halved after four consecutive unstable intervals. + */ +static inline void pps_dec_freq_interval(void) +{ + if (--pps_intcnt <= -PPS_INTCOUNT) { + pps_intcnt = -PPS_INTCOUNT; + if (pps_shift > PPS_INTMIN) { + pps_shift--; + pps_intcnt = 0; + } + } +} + +/* increase frequency calibration interval length. + * It is doubled after four consecutive stable intervals. + */ +static inline void pps_inc_freq_interval(void) +{ + if (++pps_intcnt >= PPS_INTCOUNT) { + pps_intcnt = PPS_INTCOUNT; + if (pps_shift < PPS_INTMAX) { + pps_shift++; + pps_intcnt = 0; + } + } +} + +/* update clock frequency based on MONOTONIC_RAW clock PPS signal + * timestamps + * + * At the end of the calibration interval the difference between the + * first and last MONOTONIC_RAW clock timestamps divided by the length + * of the interval becomes the frequency update. If the interval was + * too long, the data are discarded. + * Returns the difference between old and new frequency values. + */ +static long hardpps_update_freq(struct pps_normtime freq_norm) +{ + long delta, delta_mod; + s64 ftemp; + + /* check if the frequency interval was too long */ + if (freq_norm.sec > (2 << pps_shift)) { + time_status |= STA_PPSERROR; + pps_errcnt++; + pps_dec_freq_interval(); + pr_err("hardpps: PPSERROR: interval too long - %ld s\n", + freq_norm.sec); + return 0; + } + + /* here the raw frequency offset and wander (stability) is + * calculated. If the wander is less than the wander threshold + * the interval is increased; otherwise it is decreased. + */ + ftemp = div_s64(((s64)(-freq_norm.nsec)) << NTP_SCALE_SHIFT, + freq_norm.sec); + delta = shift_right(ftemp - pps_freq, NTP_SCALE_SHIFT); + pps_freq = ftemp; + if (delta > PPS_MAXWANDER || delta < -PPS_MAXWANDER) { + pr_warning("hardpps: PPSWANDER: change=%ld\n", delta); + time_status |= STA_PPSWANDER; + pps_stbcnt++; + pps_dec_freq_interval(); + } else { /* good sample */ + pps_inc_freq_interval(); + } + + /* the stability metric is calculated as the average of recent + * frequency changes, but is used only for performance + * monitoring + */ + delta_mod = delta; + if (delta_mod < 0) + delta_mod = -delta_mod; + pps_stabil += (div_s64(((s64)delta_mod) << + (NTP_SCALE_SHIFT - SHIFT_USEC), + NSEC_PER_USEC) - pps_stabil) >> PPS_INTMIN; + + /* if enabled, the system clock frequency is updated */ + if ((time_status & STA_PPSFREQ) != 0 && + (time_status & STA_FREQHOLD) == 0) { + time_freq = pps_freq; + ntp_update_frequency(); + } + + return delta; +} + +/* correct REALTIME clock phase error against PPS signal */ +static void hardpps_update_phase(long error) +{ + long correction = -error; + long jitter; + + /* add the sample to the median filter */ + pps_phase_filter_add(correction); + correction = pps_phase_filter_get(&jitter); + + /* Nominal jitter is due to PPS signal noise. If it exceeds the + * threshold, the sample is discarded; otherwise, if so enabled, + * the time offset is updated. + */ + if (jitter > (pps_jitter << PPS_POPCORN)) { + pr_warning("hardpps: PPSJITTER: jitter=%ld, limit=%ld\n", + jitter, (pps_jitter << PPS_POPCORN)); + time_status |= STA_PPSJITTER; + pps_jitcnt++; + } else if (time_status & STA_PPSTIME) { + /* correct the time using the phase offset */ + time_offset = div_s64(((s64)correction) << NTP_SCALE_SHIFT, + NTP_INTERVAL_FREQ); + /* cancel running adjtime() */ + time_adjust = 0; + } + /* update jitter */ + pps_jitter += (jitter - pps_jitter) >> PPS_INTMIN; +} + +/* + * hardpps() - discipline CPU clock oscillator to external PPS signal + * + * This routine is called at each PPS signal arrival in order to + * discipline the CPU clock oscillator to the PPS signal. It takes two + * parameters: REALTIME and MONOTONIC_RAW clock timestamps. The former + * is used to correct clock phase error and the latter is used to + * correct the frequency. + * + * This code is based on David Mills's reference nanokernel + * implementation. It was mostly rewritten but keeps the same idea. + */ +void hardpps(const struct timespec *phase_ts, const struct timespec *raw_ts) +{ + struct pps_normtime pts_norm, freq_norm; + unsigned long flags; + + pts_norm = pps_normalize_ts(*phase_ts); + + write_seqlock_irqsave(&xtime_lock, flags); + + /* clear the error bits, they will be set again if needed */ + time_status &= ~(STA_PPSJITTER | STA_PPSWANDER | STA_PPSERROR); + + /* indicate signal presence */ + time_status |= STA_PPSSIGNAL; + pps_valid = PPS_VALID; + + /* when called for the first time, + * just start the frequency interval */ + if (unlikely(pps_fbase.tv_sec == 0)) { + pps_fbase = *raw_ts; + write_sequnlock_irqrestore(&xtime_lock, flags); + return; + } + + /* ok, now we have a base for frequency calculation */ + freq_norm = pps_normalize_ts(timespec_sub(*raw_ts, pps_fbase)); + + /* check that the signal is in the range + * [1s - MAXFREQ us, 1s + MAXFREQ us], otherwise reject it */ + if ((freq_norm.sec == 0) || + (freq_norm.nsec > MAXFREQ * freq_norm.sec) || + (freq_norm.nsec < -MAXFREQ * freq_norm.sec)) { + time_status |= STA_PPSJITTER; + /* restart the frequency calibration interval */ + pps_fbase = *raw_ts; + write_sequnlock_irqrestore(&xtime_lock, flags); + pr_err("hardpps: PPSJITTER: bad pulse\n"); + return; + } + + /* signal is ok */ + + /* check if the current frequency interval is finished */ + if (freq_norm.sec >= (1 << pps_shift)) { + pps_calcnt++; + /* restart the frequency calibration interval */ + pps_fbase = *raw_ts; + hardpps_update_freq(freq_norm); + } + + hardpps_update_phase(pts_norm.nsec); + + write_sequnlock_irqrestore(&xtime_lock, flags); +} +EXPORT_SYMBOL(hardpps); + +#endif /* CONFIG_NTP_PPS */ + static int __init ntp_tick_adj_setup(char *str) { ntp_tick_adj = simple_strtol(str, NULL, 0); |